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<div class="title">shapes.h</div>  </div>
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<a href="shapes_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_PCL_VISUALIZER_SHAPES_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_PCL_VISUALIZER_SHAPES_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/ModelCoefficients.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/eigen.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/geometry/planar_polygon.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span><a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer</a>;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">class </span>vtkDataSet;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">class </span>vtkUnstructuredGrid;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">namespace </span>visualization</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> <span class="keyword">inline</span> </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="shapes_8h.html#a50da15e5aac6b239552e56d5f3b0d209">createPolygon</a> (<span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;PointT&gt;::ConstPtr &amp;cloud);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> <span class="keyword">inline</span> </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <a class="code" href="shapes_8h.html#a50da15e5aac6b239552e56d5f3b0d209">createPolygon</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon&lt;PointT&gt;</a> &amp;planar_polygon);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">   82</a></span>&#160;    <a class="code" href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">createLine</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;pt1, <span class="keyword">const</span> Eigen::Vector4f &amp;pt2);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a></div>
<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="shapes_8h.html#ab2a90030af80dd8874ca727d2cc2858f">   91</a></span>&#160;    <a class="code" href="shapes_8h.html#ab2a90030af80dd8874ca727d2cc2858f">createSphere</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;center, <span class="keywordtype">double</span> radius, <span class="keywordtype">int</span> res = 10);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="shapes_8h.html#aa1aef97113fc6a707a7f133832fb78e6">  120</a></span>&#160;    <a class="code" href="shapes_8h.html#aa1aef97113fc6a707a7f133832fb78e6">createCylinder</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients, <span class="keywordtype">int</span> numsides = 30);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="shapes_8h.html#a27b62d4c72329ead01a5d0bdc29720b6">  145</a></span>&#160;    <a class="code" href="shapes_8h.html#ab2a90030af80dd8874ca727d2cc2858f">createSphere</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients, <span class="keywordtype">int</span> res = 10);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="shapes_8h.html#a587f761c86fb1ffc1defe987dd039a7a">  170</a></span>&#160;    <a class="code" href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">createLine</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="shapes_8h.html#a3d7d6b7f35877b9feb237e898094c01e">  192</a></span>&#160;    <a class="code" href="shapes_8h.html#a3d7d6b7f35877b9feb237e898094c01e">createPlane</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="shapes_8h.html#a0bc1fdcd4b6a0012d0fb845b1819a6c1">  200</a></span>&#160;    <a class="code" href="shapes_8h.html#a3d7d6b7f35877b9feb237e898094c01e">createPlane</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients, <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> z);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00222"></a><span class="lineno"><a class="line" href="shapes_8h.html#ae9c0726430adf81fbdbbc8f21bec56d2">  222</a></span>&#160;    <a class="code" href="shapes_8h.html#ae9c0726430adf81fbdbbc8f21bec56d2">create2DCircle</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients, <span class="keywordtype">double</span> z = 0.0);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="shapes_8h.html#abcd9db6ceafdd6b36b3700df9134272d">  249</a></span>&#160;    <a class="code" href="shapes_8h.html#abcd9db6ceafdd6b36b3700df9134272d">createCone</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00256"></a><span class="lineno"><a class="line" href="shapes_8h.html#ab6ea58c22c330bda060ab17eece4cde0">  256</a></span>&#160;    <a class="code" href="shapes_8h.html#ab6ea58c22c330bda060ab17eece4cde0">createCube</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;coefficients);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="shapes_8h.html#a56144f71a55dc5e87fb1a32634555c01">  268</a></span>&#160;    <a class="code" href="shapes_8h.html#ab6ea58c22c330bda060ab17eece4cde0">createCube</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;translation, <span class="keyword">const</span> Eigen::Quaternionf &amp;rotation,</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                <span class="keywordtype">double</span> width, <span class="keywordtype">double</span> height, <span class="keywordtype">double</span> depth);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    PCL_EXPORTS <a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkDataSet&gt;</a> </div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="shapes_8h.html#a1c190a94892d418f0d3435dd8bcacada">  280</a></span>&#160;    <a class="code" href="shapes_8h.html#ab6ea58c22c330bda060ab17eece4cde0">createCube</a> (<span class="keywordtype">double</span> x_min, <span class="keywordtype">double</span> x_max,</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                <span class="keywordtype">double</span> y_min, <span class="keywordtype">double</span> y_max,</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                <span class="keywordtype">double</span> z_min, <span class="keywordtype">double</span> z_max);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    PCL_EXPORTS <span class="keywordtype">void</span></div>
<div class="line"><a name="l00288"></a><span class="lineno"><a class="line" href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">  288</a></span>&#160;    <a class="code" href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">allocVtkUnstructuredGrid</a> (<a class="code" href="classvtk_smart_pointer.html">vtkSmartPointer&lt;vtkUnstructuredGrid&gt;</a> &amp;polydata);</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;}</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="preprocessor">#include &lt;pcl/visualization/common/impl/shapes.hpp&gt;</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_planar_polygon_html"><div class="ttname"><a href="classpcl_1_1_planar_polygon.html">pcl::PlanarPolygon</a></div><div class="ttdoc">PlanarPolygon represents a planar (2D) polygon, potentially in a 3D space.</div><div class="ttdef"><b>Definition:</b> planar_polygon.h:55</div></div>
<div class="ttc" id="aclassvtk_smart_pointer_html"><div class="ttname"><a href="classvtk_smart_pointer.html">vtkSmartPointer</a></div><div class="ttdef"><b>Definition:</b> actor_map.h:50</div></div>
<div class="ttc" id="ashapes_8h_html_a3d7d6b7f35877b9feb237e898094c01e"><div class="ttname"><a href="shapes_8h.html#a3d7d6b7f35877b9feb237e898094c01e">pcl::visualization::createPlane</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createPlane(const pcl::ModelCoefficients &amp;coefficients)</div><div class="ttdoc">Create a planar shape from a set of model coefficients.</div></div>
<div class="ttc" id="ashapes_8h_html_a50da15e5aac6b239552e56d5f3b0d209"><div class="ttname"><a href="shapes_8h.html#a50da15e5aac6b239552e56d5f3b0d209">pcl::visualization::createPolygon</a></div><div class="ttdeci">vtkSmartPointer&lt; vtkDataSet &gt; createPolygon(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Create a 3d poly line from a set of points.</div><div class="ttdef"><b>Definition:</b> shapes.hpp:47</div></div>
<div class="ttc" id="ashapes_8h_html_aa1aef97113fc6a707a7f133832fb78e6"><div class="ttname"><a href="shapes_8h.html#aa1aef97113fc6a707a7f133832fb78e6">pcl::visualization::createCylinder</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createCylinder(const pcl::ModelCoefficients &amp;coefficients, int numsides=30)</div><div class="ttdoc">Create a cylinder shape from a set of model coefficients.</div></div>
<div class="ttc" id="ashapes_8h_html_ab2a90030af80dd8874ca727d2cc2858f"><div class="ttname"><a href="shapes_8h.html#ab2a90030af80dd8874ca727d2cc2858f">pcl::visualization::createSphere</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createSphere(const Eigen::Vector4f &amp;center, double radius, int res=10)</div><div class="ttdoc">Create a sphere shape from a point and a radius</div></div>
<div class="ttc" id="ashapes_8h_html_ab6ea58c22c330bda060ab17eece4cde0"><div class="ttname"><a href="shapes_8h.html#ab6ea58c22c330bda060ab17eece4cde0">pcl::visualization::createCube</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createCube(const pcl::ModelCoefficients &amp;coefficients)</div><div class="ttdoc">Create a cube shape from a set of model coefficients.</div></div>
<div class="ttc" id="ashapes_8h_html_abb746d0348192ce0950dc7adf19052f4"><div class="ttname"><a href="shapes_8h.html#abb746d0348192ce0950dc7adf19052f4">pcl::visualization::createLine</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createLine(const Eigen::Vector4f &amp;pt1, const Eigen::Vector4f &amp;pt2)</div><div class="ttdoc">Create a line shape from two points</div></div>
<div class="ttc" id="ashapes_8h_html_abcd9db6ceafdd6b36b3700df9134272d"><div class="ttname"><a href="shapes_8h.html#abcd9db6ceafdd6b36b3700df9134272d">pcl::visualization::createCone</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; createCone(const pcl::ModelCoefficients &amp;coefficients)</div><div class="ttdoc">Create a cone shape from a set of model coefficients.</div></div>
<div class="ttc" id="ashapes_8h_html_ae9c0726430adf81fbdbbc8f21bec56d2"><div class="ttname"><a href="shapes_8h.html#ae9c0726430adf81fbdbbc8f21bec56d2">pcl::visualization::create2DCircle</a></div><div class="ttdeci">PCL_EXPORTS vtkSmartPointer&lt; vtkDataSet &gt; create2DCircle(const pcl::ModelCoefficients &amp;coefficients, double z=0.0)</div><div class="ttdoc">Create a 2d circle shape from a set of model coefficients.</div></div>
<div class="ttc" id="ashapes_8h_html_aeabaade9c81f6faf7e6d0be905df8f6e"><div class="ttname"><a href="shapes_8h.html#aeabaade9c81f6faf7e6d0be905df8f6e">pcl::visualization::allocVtkUnstructuredGrid</a></div><div class="ttdeci">PCL_EXPORTS void allocVtkUnstructuredGrid(vtkSmartPointer&lt; vtkUnstructuredGrid &gt; &amp;polydata)</div><div class="ttdoc">Allocate a new unstructured grid smartpointer. For internal use only.</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
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